CN106697973B - A kind of transformer core automatic overlapping and assembling system - Google Patents
A kind of transformer core automatic overlapping and assembling system Download PDFInfo
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- CN106697973B CN106697973B CN201710072728.9A CN201710072728A CN106697973B CN 106697973 B CN106697973 B CN 106697973B CN 201710072728 A CN201710072728 A CN 201710072728A CN 106697973 B CN106697973 B CN 106697973B
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- manipulator
- lower yoke
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- servo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开的一种变压器铁心自动叠装系统，包括准备工位Ⅰ区、周转工位Ⅱ区和工作工位Ⅲ区，所述准备工位Ⅰ区和周转工位Ⅱ区是交替担任的，所述工作工位Ⅲ区包括有三柱片单层自动叠装系统、伺服叠装对缝机构和极薄片X轴Y轴双向对中平台，所述工作工位Ⅲ区分为地面层和空中层，所述地面层沿X方向依次布置有柱片上料工位、柱片对中工位、总装工位、下轭片对中工位、下轭上料工位；空中层沿X方向依次布置有柱片A机械手、柱片B机械手、下轭片机械手。本发明在取片时，能自动识别是否多片，能按要求完成山字形铁心的叠装，具有效率高、质量稳定的特点，可以省下大量的人力。
An automatic stacking system for transformer cores disclosed by the present invention includes preparation station zone I, turnover station zone II, and working station zone III. The preparation station zone I and turnover station zone II are alternately employed. The working station III area includes a three-column sheet single-layer automatic stacking system, a servo stacking and seaming mechanism, and an ultra-thin sheet X-axis Y-axis bidirectional centering platform. The working station III area is divided into a ground layer and an air layer. The ground layer is arranged sequentially along the X direction with column sheet feeding station, column sheet centering station, assembly station, lower yoke sheet centering station, and lower yoke feeding station; the air layer is arranged sequentially along the X direction with Column A manipulator, column B manipulator, lower yoke manipulator. The present invention can automatically identify whether there are multiple pieces when taking the pieces, can complete the stacking of the mountain-shaped iron cores as required, has the characteristics of high efficiency and stable quality, and can save a lot of manpower.
Description
Technical field
The present invention relates to power transformer iron core manufacturing technology field, specifically a kind of transformer core automatic overlapping and assembling
System.
Background technique
Existing transformer core closed assembly is typically all to pass through to be accomplished manually, which belongs to the simple, duplication of labour, labor
Fatigue resistance height, inefficiency.
Power transformer iron core closed assembly is generally mountain word iron core, that is, the mountain word for having a piece of lower yoke member and three pieces column piece to constitute
Piece, then stepping is enumerated and walked to every layer of mountain word slice, forms word column.
The characteristics of power transformer mountain word column iron core closed assembly, has: first is that column piece spacing M0 is a parameter, second is that number of steps is
A parameter, third is that the step-length of each step is a parameter.This to generate during the word column iron core closed assembly of power transformer mountain
Very big difficulty.
Summary of the invention
The purpose of the present invention is to solve the above problem, provides a kind of transformer core automatic overlapping and assembling system, which exists
When taking piece, can automatic identification whether multi-disc, the closed assembly of mountain shaped iron core can be completed as required, have it is high-efficient, quality is stable
Feature can save a large amount of manpower.
The technical scheme adopted by the invention to solve the technical problem is that:
A kind of transformer core automatic overlapping and assembling system, including prepare Ith area of station, all IIth areas of switching stations and work station III
Area, Ith area of preparation station and all IIth areas of switching stations alternately serve as, and IIIth area of work station includes three column piece single layers
Automatic overlapping and assembling system, servo closed assembly opposite joint mechanism and wafer thin X-axis Y-axis Bidirectional centering platform, the work station III are divided into
Ground floor and air-layer, the ground floor be sequentially arranged in X direction column piece feeding station, column piece centering station, general assembly station,
Lower yoke member centering station, lower yoke feeding station, the column piece feeding station are equipped with three column piece feeding Shuttling trolleys, the column piece pair
It is equipped with the full-automatic centering platform of three column pieces at middle station, is equipped with finished product Shuttling trolley, the lower yoke member pair at the general assembly station
It is equipped with the full-automatic centering platform of lower yoke member at middle station, is equipped with lower yoke member feeding Shuttling trolley at the lower yoke feeding station；It is empty
Middle layer has been sequentially arranged column piece A manipulator, column piece B manipulator, lower yoke member manipulator in X direction, on the lower yoke member manipulator
It is provided with the two lower yoke member A manipulators and lower yoke member B manipulator along Z axis lifting；
Servo closed assembly opposite joint mechanism, including walking mechanism, lower yoke member grasping mechanism and lower yoke member opposite joint mechanism, the lower yoke
Piece grasping mechanism and lower yoke member opposite joint mechanism are respectively supported in walking mechanism, and the walking mechanism includes that lower yoke member manipulator is watched
Take motor, lower yoke member robotic transfer axis and lower yoke member running trolley；The lower yoke member grasping mechanism includes lower yoke member A manipulator
Lifting column, lower yoke member A manipulator lifting motor, lower yoke member A manipulator sucker fixed beam and sucker；The lower yoke member butt-jointed gap machine
Structure includes lower yoke member B manipulator lifting column, lower yoke member B manipulator lifting motor, lower yoke member B manipulator sucker fixed beam and right
Slit die group, it is described that lower yoke member B manipulator sucker fixed beam is mounted on to slit die group, it include servo pulling mechanism, pressure to slit die group
Tight mechanism, mounting bracket and board-like vacuum chuck II, the servo pulling mechanism, hold-down mechanism and board-like vacuum chuck II are fixed
In mounting bracket；
Described to be equipped with three groups to slit die group, the mounting bracket is fixed in lower yoke member B manipulator sucker fixed beam, installation
Bracket includes vertical plate and end connecting plate；The servo pulling mechanism includes that servo pulls electric cylinders, pulls sucker and spring lever, institute
Stating servo pulls electric cylinders to be fixed on the mounting bracket, and the spring lever is mounted on servo and pulls in electric cylinders, and sucker is pulled to pass through bullet
Spring base pulls electric cylinders to connect with servo, and servo pulls electric cylinders to drive by spring lever and pulls sucker movement；The hold-down mechanism packet
Cylinder and pressure plate are included, the cylinder piston rod end is connect with pressure plate, and cylinder upper end is fixed with cylinder mounting block, the cylinder
Mounting blocks are fixed on the mounting bracket；II upper end of board-like vacuum chuck is fixed with top connecting plate, the top connecting plate
It is fixed on the mounting bracket.
Further, along X at the three columns piece feeding Shuttling trolley, finished product Shuttling trolley and lower yoke member feeding Shuttling trolley
Successively there is the trolley rail of three secondary parallel arrangements in direction, and each pair trolley rail is equipped with two, runs on every pair trolley rail
Two trolleys；
Three columns piece feeding Shuttling trolley upper surface, which is equipped with to put down, hangs pallet I and locating piece I, on the finished product Shuttling trolley
End face is equipped with closed assembly platform, and the lower yoke member feeding Shuttling trolley upper surface, which is equipped with to put down, hangs pallet II and locating piece II, three small
Vehicle moves on corresponding rail respectively, and three trolley lower end surfaces are respectively equipped with wheel, and wheel and trolley lower end surface are rotatablely connected,
Wheel is contacted with trolley rail, and by transmission axis connection between wheel, transmission shaft middle position is equipped with drive sprocket, the trolley
Lower end surface position corresponding with drive sprocket is equipped with vehicle motor.
Further, IIIth area of work station be equipped with X to portal frame, the portal frame be equipped with two, two portal frames
In parallel, the portal frame both ends are equipped with gantry pillar, be respectively equipped on the inside of two portal frame upper surfaces X to portal frame rack gear,
Two portal frame rack gears are parallel to each other, and portal frame guide rail, two portal frame guide rails point are respectively equipped on the outside of the two portal frame upper surfaces
It is not parallel with corresponding portal frame rack gear.
Further, the column piece A manipulator includes walking mechanism and elevating mechanism, and the walking mechanism includes column piece A
Robot cart car body, column piece A manipulator running trolley servo motor and column piece A manipulator running trolley transmission shaft；
The elevating mechanism includes column piece A manipulator lifting column, column piece A manipulator lift servo motor and column piece A machine
Tool hand sucker fixed beam.
Further, the three columns piece single layer automatic overlapping and assembling system, including three column piece closed assembly platforms and the crawl of three column pieces are certainly
Dynamic spacing mechanism between adjusting column piece, the three columns piece crawl is automatic to adjust spacing mechanism between column piece to be located above three column piece closed assembly platforms, described
Three column piece closed assembly platforms include that three sets servo centering bodies, three sets servos by stitching mechanism, a set of servo Y-direction walk stepping mechanism and greatly
Support platform, three sets of automatic centering mechanisms are horizontally distributed in big support platform, and three sets of servos are each located on automatically by seam mechanism
On the center line of centering body, a set of servo Y-direction walks stepping mechanism and three sets of perpendicular arrangements of servo automatic centering mechanism；It is described
The crawl of three column pieces is automatic to adjust spacing mechanism between column piece to include walking in a horizontal state device, lifting device and adjust column piece spacing device, goes up and down dress
It sets and is supported on walking in a horizontal state device, column piece spacing device is adjusted to be mounted on lifting device.
Further, the wafer thin X-axis Y-axis Bidirectional centering platform, including Y-direction centering and walk stepping mechanism, level pushes away
Motivation structure, big support platform and silicon steel sheet support platform, the silicon steel sheet support platform are mounted in big support platform and make somebody a mere figurehead,
Y-direction centering simultaneously walks stepping mechanism and Level Promoting mechanism is mounted in big support platform, and stepping mechanism and horizontal is simultaneously walked in Y-direction centering
Pushing mechanism is at being arranged vertically, the Y-direction centering and to walk stepping mechanism include installation floor, straight line mould group and automatic anti-backlash dress
It sets, automatic gap eliminating device is located in silicon steel sheet support platform and compresses silicon steel sheet support platform, and the Level Promoting mechanism includes
Propelling track, connecting cross beam, pushing block and electric cylinders, the pushing block, which is located on connecting cross beam and extends silicon steel sheet support, puts down
Platform.
The beneficial effects of the present invention are:
1, a kind of transformer core automatic overlapping and assembling system provided by the invention includes 2 three column piece feeding Shuttling trolleys, three
The full-automatic centering platform of column piece, 2 finished product iron core Shuttling trolleys, yoke feeding shuttles small under the full-automatic centering platform of lower yoke member, 2 platforms
Vehicle, trolley rail, portal frame, column piece A manipulator, column piece B manipulator and lower yoke member manipulator.It can be incessantly according to transformation
The lamination sequence of device iron core completes the closed assembly of iron core, high production efficiency, stable product quality.The present invention is versatile, to column piece A
Manipulator and B manipulator etc. are slightly changed, and the automatic overlapping and assembling of three-phase and five-pole power transformer iron core can be completed.Opposite joint mechanism benefit
The control of " power " when with to opposite joint, the feeling of simulation " artificial hand ", rather than the only control to position, it has been completely secured per together
Mitre it is perfectly aligned.
2, three column piece single layer automatic overlapping and assembling systems described in a kind of transformer core automatic overlapping and assembling system provided by the invention by
Being arranged vertically and disposably adjusting for stepping mechanism is walked in three sets of centering bodies and the Y-direction of equipment, yoke piece and three column pieces
90 degree are able to strict guarantee, rather than artificial closed assembly, need each mitre that will check, improve closed assembly efficiency；With lower yoke
The design of the identical pattern of plate shape introduces, and walks stepping by pattern, primary to complete by being three sets of movements by stitching electric cylinders
Three column pieces walk stepping and complete mitre alignment；The locating piece I of servo centering body is specially designed, can not do any
Change is used with regard to changeable surface, is supported four with one and is used, prolongs the service life, the locating piece II on same pattern is also designed to replaceable
Structure, and by the design of T-slot, vertical direction slightly moves, and can be used, and the earth reduces the replacement frequency, extends
Service life；Design by stitching mechanism, is the maximum moment mode by fine motion electric cylinders, and whether perception column piece encounters lower yoke
Piece simulates the perception dynamics of artificial " hand ", more preferable by seam effect；B manipulator linear mould group fixes both ends trough of belt sucker
Beam moves toward one another, come realize different transformer pillar spacing M0 variation demand, it is convenient and efficient, it is adaptable.
3, wafer thin X-axis Y-axis Bidirectional centering platform described in a kind of transformer core automatic overlapping and assembling system provided by the invention
Equipped with automatic gap eliminating device, one and half V blocks are tightly pressed in silicon steel sheet support platform, such silicon steel sheet occurs in
In mobile process, it is unlikely to corner and is inserted into its gap；The design of Level Promoting mechanism is the maximum moment mould by electric cylinders
Whether formula, perception column piece encounter lower yoke member, simulate the perception dynamics of artificial hand；It can be the silicon steel of the various width of transformer
Piece, centering one at a time, and its corresponding step number is pressed, same shape, still a series of different silicon steel sheets of size is several
The same point of platform is fixed at what center, and the point is made to walk defined step-length, stepping along Y-direction, is transformer core from fold
It trues up and gets determining position ready, make the geometric center of the silicon steel sheet of each step at equidistant arrangement, when being iron core in future closed assembly
Opposite joint lays the foundation.
4, servo closed assembly opposite joint mechanism described in a kind of transformer core automatic overlapping and assembling system provided by the invention includes walking
Mechanism, lower yoke member grasping mechanism and lower yoke member opposite joint mechanism, the cooperation of walking mechanism and lower yoke member grasping mechanism can be realized by
Lower yoke member grabs centering platform and carries out centering, and the cooperation of walking mechanism and lower yoke member opposite joint mechanism can be realized, and centering is good
Lower yoke member carry out crawl and opposite joint, it is simple to operate, save manpower, be not only suitable for silicon steel sheet automatic overlapping and assembling production line side column and
Center pillar and lower yoke splice opposite joint, are also applied for automatic production line thin plate splicing to joint stabilizing process requirement；Servo pulling mechanism passes through
Servo pulls electric cylinders to drive by spring lever and pulls sucker mobile, be the maximum moment mode by fine motion electric cylinders, perceive column piece
Whether encounter lower yoke member, simulate the perception dynamics of artificial " hand ", while also simulating the motion mode of manpower；It is pressed in hold-down mechanism
Plate has guide frame, can accurately bevel edge from guide post piece to yoke piece or v-notch it is mobile and be aligned, and be unlikely to " weight
Folded, tooled joint ".
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is overall top view of the present invention；
Fig. 3 is the whole main view of the present invention；
Fig. 4 is the aerial schematic diagram of a layer structure of the present invention；
Fig. 5 is general assembly station structure schematic diagram where finished product Shuttling trolley of the present invention；
Fig. 6 is column piece A robot manipulator structure schematic diagram of the present invention；
Fig. 7 is three column piece single layer automatic overlapping and assembling system structure diagrams of the invention；
Fig. 8 is the board-like vacuum chuck structural schematic diagram of the present invention；
Fig. 9 is three column piece closed assembly platform structure schematic diagrames of the invention；
Figure 10 is servo centering body structural schematic diagram of the present invention；
Figure 11 is the present invention by stitching mechanism structure schematic diagram；
Figure 12 is that servo Y-direction of the present invention walks stepping mechanism main view；
Figure 13 is that servo Y-direction of the present invention walks stepping mechanism top view；
Figure 14 is wafer thin X-axis Y-axis Bidirectional centering platform structure schematic diagram of the present invention；
Figure 15 is Y-direction centering of the present invention and walks stepping mechanism structure schematic diagram；
Figure 16 is automatic anti-backlash cross-sectional view of the structure of the present invention；
Figure 17 is Level Promoting mechanism structure schematic diagram of the present invention；
Figure 18 is servo closed assembly opposite joint mechanism of the present invention structural schematic diagram；
Figure 19 is lower yoke member B robot manipulator structure schematic diagram of the present invention；
Figure 20 is lower yoke member B manipulator top view of the present invention；
Figure 21 is opposite joint modular structure schematic diagram of the present invention；
Figure 22 is the present invention to slit die group main view.
Specific embodiment
According to Fig. 1 to Fig. 3, a kind of transformer core automatic overlapping and assembling system, including prepare Ith area of station, all switching stations
IIIth area of IIth area and work station, Ith area of preparation station and all IIth areas of switching stations alternately serve as, IIIth area of work station
It include three column piece single layer automatic overlapping and assembling systems, servo closed assembly opposite joint mechanism and wafer thin X-axis Y-axis Bidirectional centering platform, it is described
Work station III divides into ground floor and air-layer, and the ground floor has been sequentially arranged column piece feeding station, column piece pair in X direction
Middle station, general assembly station, lower yoke member centering station, lower yoke feeding station, the column piece feeding station are equipped with three column piece feedings and wear
Shuttle trolley 1 is equipped with the full-automatic centering platform 2 of three column pieces at the column piece centering station, wears at the general assembly station equipped with finished product
Shuttle trolley 3 is equipped with the full-automatic centering platform 4 of lower yoke member at the lower yoke member centering station, is equipped at the lower yoke feeding station
Lower yoke member feeding Shuttling trolley 5；Air-layer has been sequentially arranged column piece A manipulator 6, column piece B manipulator 7, lower yoke member machine in X direction
Tool hand 8 is provided with the two lower yoke member A manipulators and lower yoke member B manipulator along Z axis lifting on the lower yoke member manipulator.
The three columns piece single layer automatic overlapping and assembling system includes column piece B manipulator and the full-automatic centering platform 2 of three column pieces, described
Servo closed assembly opposite joint mechanism includes lower yoke member manipulator 8, and the wafer thin X-axis Y-axis Bidirectional centering platform includes that lower yoke member is complete certainly
Dynamic centering platform 4.
According to fig. 2 and shown in Fig. 5, the three columns piece feeding Shuttling trolley 1, finished product Shuttling trolley 3 and lower yoke member feeding are worn
Successively there is the trolley rail 10 of three secondary parallel arrangements at shuttle trolley 5 in X direction, each pair trolley rail 10 is equipped with two, every pair
Two trolleys are run on trolley rail 10；Three columns piece feeding Shuttling trolley, 1 upper surface, which is equipped with to put down, hangs pallet I 101 and positioning
Block I 102, locating piece I 102 hang pallet I 101 for positioning to put down, and 3 upper surface of finished product Shuttling trolley is equipped with closed assembly platform 301,
5 upper surface of lower yoke member feeding Shuttling trolley, which is equipped with to put down, hangs pallet II 51 and locating piece II 52, and three trolleies are respectively in correspondence
Trolley rail 10 on move, three trolley lower end surfaces are respectively equipped with wheel 302, and wheel 302 and trolley lower end surface are rotatablely connected,
Wheel 302 is contacted with trolley rail 10, is connected between wheel 302 by transmission shaft 303, and 303 middle position of transmission shaft, which is equipped with, to be passed
Movable sprocket 304, the trolley lower end surface position corresponding with drive sprocket 304 be equipped with vehicle motor 305, vehicle motor 305 with
It is connected between drive sprocket 304 by chain, vehicle motor 305 sends power to transmission shaft by chain and movable sprocket 304
To be rotated with motor car wheel 302.
According to Fig.4, IIIth area of work station be equipped with X to portal frame 9, the portal frame 9 be equipped with two, two dragon
Door frame 9 is parallel, and 9 both ends of portal frame are equipped with gantry pillar 91, and the gantry pillar 91 is fixed on overlapping system work
Be respectively equipped on platform, on the inside of two portal frames, 9 upper surface X to portal frame rack gear 92, two portal frame rack gears 92 are parallel to each other, two
Be respectively equipped with portal frame guide rail 93 on the outside of 9 upper surface of portal frame, two portal frame guide rails 93 respectively with corresponding portal frame
Rack gear 92 is parallel.
According to Fig.6, the column piece A manipulator includes walking mechanism and elevating mechanism, and the walking mechanism includes column
Piece A robot cart car body 601, column piece A manipulator running trolley servo motor 602 and the transmission of column piece A manipulator running trolley
Axis 604, the 601 both ends position corresponding with portal frame guide rail 93 of column piece A robot cart car body are transported equipped with column piece A manipulator
Row trolley sliding block 608, column piece A robot cart car body 601 are led by column piece A manipulator running trolley sliding block 608 and portal frame
Rail 93 slides on portal frame 9, and column piece A manipulator running trolley servo motor 602 is mounted on column piece A robot cart car body
601 middle positions, 602 lower end of column piece A manipulator running trolley servo motor are equipped with column piece A manipulator running trolley decelerating motor
603, the column piece A manipulator running trolley transmission shaft 604 passes through column piece A manipulator running trolley decelerating motor 603, the column
604 both ends of piece A manipulator running trolley transmission shaft are equipped with column piece A manipulator running trolley transmission gear 607, column piece A manipulator
Column piece A robotic transfer axis is equipped in 604 upper prop piece A manipulator running trolley transmission gear 607 of running trolley transmission shaft to support
Bearing 605, it is mechanical by column piece A between column piece A robotic transfer axis spring bearing 605 and column piece A robot cart car body 601
Hand transmission shaft support base 606 connects, and column piece A robotic transfer axis support base 606 is welded on column piece A robot cart car body 601
On, column piece A robotic transfer axis spring bearing 605 is bolted on column piece A robotic transfer axis support base 606.
The elevating mechanism includes column piece A manipulator lifting column 609, column piece A manipulator lift servo motor 610 and column
Piece A manipulator sucker fixed beam 615, the column piece A manipulator lift servo motor 610 are supported on column piece A robot cart vehicle
On body 601,610 lower end of column piece A manipulator lift servo motor is equipped with column piece A manipulator lifting slider 611, the column piece A machine
Tool hand lifting slider 611 is equipped with reinforcing rib, the rectangular triangle of reinforcing rib, and the reinforcing rib right-angle side is welded on column piece
On A robot cart car body 601, the column piece A manipulator lifting column 609 is equipped with column piece A manipulator riser guide 612,
Column piece A manipulator lift servo motor 610 passes through column piece A manipulator lifting slider 611 and column piece A manipulator riser guide 612
It is slidably connected with column piece A manipulator lifting column 609,609 lower end of column piece A manipulator lifting column connects equipped with column piece A manipulator
Frame 613 is connect, 613 lower end of column piece A manipulator connection frame is fixed with column piece A manipulator connecting cross beam 614, the column piece A manipulator
614 left and right ends of connecting cross beam are fixed with column piece A manipulator sucker fixed beam 615, the column piece A manipulator connecting cross beam 614
It is connect between column piece A manipulator sucker fixed beam 615 by column piece A robotic connector 616, the column piece A manipulator is inhaled
Disk fixed beam 615 is equipped with weighing sensor 617, and the column piece A manipulator sucker fixed beam 615 is fixed, and there are three column piece A machines
Tool hand spring lever 619,619 lower end of column piece A manipulator spring lever are fixed with column piece A manipulator sucker 618.
According to Fig. 7 to Figure 13, the three columns piece single layer automatic overlapping and assembling system, including three column piece closed assembly platforms and three columns
Spacing mechanism between column piece is adjusted in piece crawl automatically, and M0 is column piece spacing in figure, and the automatic tune M0 mechanism of three columns piece crawl is located at three columns
Above piece closed assembly platform, the three columns piece closed assembly platform includes three sets servo centering bodies, three sets of servos by stitching mechanism, a set of watching
It takes Y-direction and walks stepping mechanism and big support platform 11, three sets of automatic centering mechanisms are horizontally distributed in big support platform 11, and three sets are watched
It takes on the center line that seam mechanism is each located on automatic centering mechanism, a set of servo Y-direction walks stepping mechanism and three sets of servos are automatic
The perpendicular arrangement of centering body, wherein three sets of servo automatic centering mechanisms are designed to strictly parallel arrangement, spacing is equal, and Y
It is arranged vertically to stepping mechanism is walked with three sets of servo automatic centering mechanisms, it is good that once the equipment is installed in place, then the column being assembled
The mitre angle of piece and yoke piece would not change again；The servo automatic centering mechanism include the guide rail I 14 moved toward one another,
Crossbeam 15, straight line mould group I 12 and the locating piece I 16 that a pair moves toward one another, the guide rail I 14 are fixed in big support platform, lead
There are two rail I 14 is set, two guide rails I 14 are parallel, and fixed on each crossbeam 15 there are three locating piece I 16, two crossbeams 15 or so two
Lower end surface is held to be equipped with slider I 13, crossbeam 15 between slider I 13 and guide rail I 14 and big support platform 11 by being slidably connected, crossbeam
15 lower end surfaces middle position are equipped with sliding block II 17, and straight line mould group I 12 between sliding block II 17 and crossbeam 15 by being slidably connected, straight line
I 12 one end of mould group is equipped with servo motor 140, and the maximum distance that servo motor is able to drive crossbeam walking is S1；Servo is automatically right
I 16 shape of locating piece of middle mechanism is special, and the end face in short transverse is square, i.e. the distance in opposite sides face is identical,
It is that can be rotated by 90 ° and continue to use when being finished one of face, with one when four use.Servo centering body can complete three column pieces certainly
Dynamic centering, is located in each column piece center line on determining position.
The servo includes fine motion electric cylinders 18 and electromagnet 110 by seam mechanism, and the fine motion electric cylinders 18 are fixed on big support
On platform 11, electromagnet base 19 is equipped between the electromagnet 110 and fine motion electric cylinders 18, electromagnet 110 is fixed on electromagnet base
19 upper surfaces, 19 lower end of electromagnet base are equipped with sliding block III 111, and 18 upper surface of fine motion electric cylinders is equipped with guide rail II 112, electromagnet base 19
By being slidably connected between sliding block III 111 and guide rail II 112 and fine motion electric cylinders 18；11 upper surface of big support platform with three sets
The corresponding position of servo automatic centering mechanism is respectively equipped with silicon steel sheet support platform 141, and silicon steel sheet support platform 141 is leaned on servo
It stitching the corresponding position of mechanism and is equipped with slot 119, the electromagnet 110 passes through slot 119, in order to 110 adsorption column piece of electromagnet,
Three silicon steel sheet support platforms 141 are arranged in above respective centering body, are supported in big support platform 11 by supporting leg, are pacified
Plane is generally flush with thereon after dress.For the ease of detecting supplied materials, close open is devised on the middle line of silicon steel sheet support platform
Closing detecting apparatus is provided with through-hole in the silicon steel sheet support platform 141, so that locating piece I 16 is higher by, for positioning silicon when centering
Steel disc.The maximum distance that the electromagnet 110 can be displaced is S.
It includes pattern 113, positioning electric cylinders 114, guide rail III 116 and sliding block IV 117, institute that the servo Y-direction, which walks stepping mechanism,
It states positioning electric cylinders 114 and is located at 113 downside of pattern, position and be equipped with positioning electric cylinders mounting base between electric cylinders 114 and big support platform 11
118, positioning electric cylinders 114 by position electric cylinders mounting base 118 be fixed in big support platform 11, positioning 114 upper surface of electric cylinders with
Pattern 113 is fixedly connected, and the sliding block IV 117 is located at 114 lower end surface of pattern, is passed through between pattern 113 and big support platform 11
Guide rail III 116 and sliding block IV 117 are slidably connected, and pattern 113 completes the walking precession of Y-direction under the drive of positioning electric cylinders 114
Make；113 shape of the pattern complete analogue conjugate plate shape is fixed with locating piece II 115 on V-groove mouth and two bevel edges, positions
II 115 band T-slot of block, when locating piece II 115 is worn, can move down certain distance installation, to prolong its service life.Y
Corresponding step-length is walked according to program to stepping mechanism is walked, is moved by 110 adsorption column silicon steel sheet of electromagnet to pattern 113 by seam mechanism
It is dynamic, under the drive of electromagnet 110, column piece is close to pattern 113 in X direction and is aligned.
The automatic tune M0 mechanism of three columns piece crawl includes walking in a horizontal state device, lifting device and tune M0 device, the water
Parallel walking apparatus includes B robot cart car body 120, B robot cart operation servo motor 121 and transmission shaft 123, the B
Robot cart operation servo motor 121 is fixed on B robot cart car body 120, and B robot cart runs servo motor
B manipulator decelerating motor 122 is equipped between 121 and transmission shaft 123,123 left and right ends of transmission shaft are equipped with B robotic transfer gear
126, the B robotic transfer gear 126 is engaged with portal frame rack gear 92, is driven by rack pinion pair, transmission
B robotic transfer shaft support bearing 124 is equipped on axis 123 on the inside of B robotic transfer gear 126, B robotic transfer is pivotally supported axis
It holds 124 to be mounted on B robot cart car body 120 by B robot support seat 125, B robot cart car body 120 or so two
Lower surface is held to be equipped with B manipulator linear sliding block 127, B manipulator linear sliding block 127 and portal frame guide rail 93 cooperate, and pass through sliding block
Guideway controls the direction of trolley.
The lifting device includes B manipulator lifting column 128, B manipulator lifting motor 131, B manipulator riser guide
129 and B manipulator lifting slider 130, the B manipulator lifting motor 131 are fixed on B robot cart car body 120, B machine
It is driven between tool hand lifting motor 131 and B manipulator lifting column 128 by rack and pinion engagement, B manipulator lifting motor
Pass through 130 pairs of movement sides of B manipulator riser guide 129 and B manipulator lifting slider between 131 and B manipulator lifting column 128
To being positioned.
The tune M0 device includes frame-type flange 133, B manipulator linear mould group 138,136 and of trough of belt sucker fixed beam
Board-like vacuum chuck I 137,128 lower end of B manipulator lifting column are fixed with attachment base 132, set on the attachment base 132
There is guide post I 134, there are four guide post I 134 is set, one of guide post I 134 is equipped with B manipulator touching material detection switch 135；It is described
B manipulator linear mould group 138 is fixed on 133 lower end of frame-type flange, and trough of belt sucker fixed beam 136 is fixed on B manipulator linear
138 lower end of mould group, trough of belt sucker fixed beam 136 are equipped with three, and intermediate trough of belt sucker fixed beam 136 is fixed, B manipulator linear
A pair of of sliding block of mould group 138, which moves toward one another, drives both ends trough of belt sucker fixed beam 136 to move, before trough of belt sucker fixed beam 136
Both ends position corresponding with frame-type flange 133 is equipped with B manipulator linear mould group sliding block 139, B manipulator linear mould group sliding block afterwards
139 cooperate with 133 lowermost guide rail of frame-type flange, and the 136 rear and front end lower end surface of trough of belt sucker fixed beam is fixed with board-like
Vacuum chuck.
Board-like vacuum chuck I 137 is made of sucker ontology, vacuum generator 1371 and the suction hole 1372 set that gathers,
The check valve that each suction hole 1372 is equipped with, sucker size B0 is greater than drawn column piece width B, if big support platform
11 have blowing function, this is impossible in common sucker, because vacuum generator 1371 does not establish vacuum, but this hair
The board-like vacuum chuck I 137 of bright offer can reach, sucker not by the sucker for the part of column piece blocked 1372 it is unidirectional
Valve is closed, and does not influence the foundation of vacuum degree.One layer of very thin sponge is arranged at board-like I 137 bottom of vacuum chuck, can make up sucker plate
The defect of the not gentle support platform injustice in face, and after being crushed because of suction sponge can at " rigid body ", when fast moving,
Not only enough frictional force had been provided, but also has had certain rigidity.
Column piece B manipulator is responsible for the three pieces column piece that centering is good, grabs total closed assembly station.Due to different transformer cores
Phase spacing M0 be a variable, so the center spacing of three groups of board-like vacuum chucks I 137 of column piece B manipulator is to change
, the sucker for grabbing middle column sheet is fixed, and the sucker of two side columns of crawl will move towards.The movement of this relative quantity is by arranging
B manipulator linear mould group 138 that sliding block in column piece B manipulator lower part moves toward one another is completed.B manipulator lifting column
128 lower ends are fixed with frame-type flange 133, fixed B manipulator linear mould group 138 and two guide rails on frame-type flange 133,
A pair of of sliding block of B manipulator linear mould group 138 moves toward one another, drive two X to trough of belt sucker fixed beam along Y-direction phase
To movement, to reach the M0 amount of needs；The middle part of 133 flange lower plane of frame-type, the two trough of belt suckers moved towards simultaneously
Also fixed one fixed trough of belt sucker fixed beam 136 between fixed beam, this solid two three dynamic trough of belt sucker fixed beam
One group of board-like vacuum chuck is respectively arranged in 136 lower ends.This three groups board-like vacuum chucks I 137 are used to grab three column pieces pair respectively
The good column piece of centering on middle platform.Pass through four guide posts I 134 between B manipulator lifting column 128 and frame-type flange 133
It is connected with linear bearing, linear bearing is fixed on B manipulator lifting column 128, and guide post I 134 is fixed on frame-type flange
133, B manipulator touching material detection switch 135 wherein is fixed on one in four guide posts.
According to Figure 14 to Figure 17, a kind of wafer thin X-axis Y-axis Bidirectional centering platform, including Y-direction centering and walk stepper
Structure, Level Promoting mechanism, big support platform 21 and silicon steel sheet support platform 22, the silicon steel sheet support platform 22 are mounted on big branch
It on support platform 21 and makes somebody a mere figurehead, Y-direction centering simultaneously walks stepping mechanism and Level Promoting mechanism is mounted in big support platform 21, the silicon
Footing 23 is equipped between steel disc support platform 22 and big support platform 21, the peace of silicon steel sheet support platform 22 and big support platform 21 are logical
Cross the connection of footing 23, Y-direction centering simultaneously walks stepping mechanism and Level Promoting mechanism is located at silicon steel sheet support platform 22 and big support is put down
Between platform 21, Y-direction centering simultaneously walks stepping mechanism and Level Promoting mechanism at being arranged vertically.
The Y-direction centering and to walk stepping mechanism include installation floor 24, straight line mould group 25 and automatic gap eliminating device, disappears automatically
Gap device is located in silicon steel sheet support platform 22 and compresses silicon steel sheet support platform 22, the installation floor 24 and big support platform
It is fixed together between 21 by eight screws, the connecting hole in the installation floor 24 is elongate holes；The straight line mould group
25 set there are two, two straight line mould groups 25 are separately fixed at the both ends of installation floor 24, are respectively equipped with electric cylinders in two straight line mould groups 25
Sliding block 28, electric cylinders sliding block 28 can be slided along straight line mould group 25, and 28 side of electric cylinders sliding block is equipped with electric cylinders 27, and electric cylinders 27 provide electric cylinders
The power that sliding block 28 slides, 28 upper surface of electric cylinders sliding block are fixed with transition link block 29, and the automatic gap eliminating device was fixed on
Cross on link block 29, Y-direction centering and walk stepping mechanism electric cylinders be two sets individually electricity 27, the movement that can be completed is both to have adapted to
The lower yoke member 227 of different length, and stepping can be walked after completing in.
The automatic gap eliminating device includes half V block 26 and guide rod 210, and the guide rod 210 is equipped with three, three guide rods 210
It being parallel to each other, the position corresponding with guide rod 210 of transition link block 29 is equipped with through-hole, and through-hole bottom end is equipped with fastening grooves 228,
210 bottom end of guide rod is equipped with cylindrical protrusions 229, and 210 lower end of guide rod passes through the through-hole on transition link block 29,210 bottom end of guide rod
Cylindrical protrusions 229 and through-hole bottom end fastening grooves 228 are fitted close, and strictly determine the distance between three guide rods 210, with
Just after installing half V block 26, smooth not clamping stagnation is gone up and down, two automatic gap eliminating devices are arranged at " V " font, it is therefore an objective to utilize lower yoke member
227 two 45 ° of bevel edges position and centering.
Half V block, 26 lower end surface and silicon steel sheet support platform 22 are in close contact, half V block 26 position corresponding with guide rod 210
It installs there are three through-hole, three guide rods 210 are each passed through through-hole, and through-hole lower end is equipped with groove II 215, in the groove II 215
Equipped with linear bearing 216,216 lower end of linear bearing is equipped with baffle 217, and baffle 217 is fixed on 215 inner wall of groove II, baffle
217 can prevent linear bearing 216 from sliding, and have ball in the linear bearing 216 to reduce friction；The through-hole upper end is set
Fluted I 211, groove I 211 is interior to be equipped with holddown spring 212, and half V block, 26 upper surface position corresponding with groove I 211 is equipped with pressure
Plate 213,212 lower end of holddown spring are contacted with 211 bottom end of groove I, 212 upper end of holddown spring and 213 lower end face contact of pressing plate, institute
210 upper end of guide rod is stated equipped with nut 214, nut 214 is spun on guide rod 210 and clamping platen 213, and such lower yoke member 227 exists
Centering and during moving, be unlikely to corner and be inserted into its gap.
The position corresponding with guide rod 210 of silicon steel sheet support platform 22 is equipped with the slot I 218 of strip, and guide rod 210 is worn
It crosses slot I 218 and connects half V block 26.
The Level Promoting mechanism includes propelling track 219, connecting cross beam 220, pushing block 224 and electric cylinders 221, described to push away
It is fixed in big support platform 21 into guide rail 219,220 left and right ends of the connecting cross beam position corresponding with propelling track 219
Equipped with promoting slider 222, promoting slider 222 and propelling track 219 cooperate；The electric cylinders 221 are located at 220 lower end surface of connecting cross beam
Middle position, electric cylinders 221 are fixed in big support platform 21；220 upper surface of connecting cross beam is equipped with pushing block groove 223,
Fixed there are two pushing block 224 in pushing block groove 223, the pushing block 224 extends silicon steel sheet support platform 22, the silicon
The position corresponding with pushing block 224 of steel disc support platform 22 is equipped with slot II 225, and the pushing block 224 is prolonged by slot II 225
Silicon steel sheet support platform is stretched out, 224 upper surface of pushing block of the Level Promoting mechanism is square, can be without any changes
Changeable surface is used, four is supported with one and uses, prolong the service life.The electric cylinders 221 provide horizontal power, drive connecting cross beam 220
It moves horizontally, locating piece 224 is to wanting the lower yoke member 227 of centering to carry out X to promotion, and wherein 224 four sides of locating piece is available.
Further, the middle line of the silicon steel sheet support platform is equipped with supplied materials detection device 226.
According to Figure 18 to Figure 22, the servo closed assembly opposite joint mechanism, including walking mechanism, lower yoke member grasping mechanism and
Lower yoke member opposite joint mechanism, the lower yoke member grasping mechanism and lower yoke member opposite joint mechanism are respectively supported in walking mechanism, the row
Walking mechanism includes lower yoke member manipulator servo motor 31, lower yoke member robotic transfer axis 32 and lower yoke member running trolley 33, described
Lower yoke member running trolley 33 is in II shape, and lower yoke member grasping mechanism and lower yoke member opposite joint mechanism are separately fixed at lower yoke member running trolley
On 33 two opposite sides；31 lower end of lower yoke member manipulator servo motor is equipped with lower yoke member manipulator decelerating motor 34, institute
Lower yoke member manipulator decelerating motor 34 is stated equipped with connecting plate 35, lower yoke member manipulator decelerating motor 34 is by connecting plate 35 under
Yoke piece running trolley 33 is fixedly connected, and the lower yoke member robotic transfer axis 32 passes through lower yoke member manipulator decelerating motor 34, under
Yoke piece manipulator servo motor 31 drives lower yoke member robotic transfer axis 32 to rotate by lower yoke member manipulator decelerating motor 34；Institute
32 both ends of lower yoke member robotic transfer axis are stated equipped with lower yoke member running trolley transmission gear 38, on lower yoke member robotic transfer axis 32
Transmission shaft spring bearing 36, the transmission shaft spring bearing 36 and lower yoke member are equipped on the inside of lower yoke member running trolley transmission gear 38
Lower yoke member running trolley support base 36 is equipped between running trolley 33, lower yoke member running trolley support base 36 is fixed on the operation of yoke piece
On trolley 33, lower yoke member running trolley 33 passes through rack pinion.
The lower yoke member grasping mechanism includes lower yoke member A manipulator lifting column 39, lower yoke member A manipulator lifting motor
310, lower yoke member A manipulator sucker fixed beam 311 and lower yoke member A manipulator sucker, under the lower yoke member A manipulator lifting motor
End is equipped with lower yoke member A manipulator sliding block 313, and institute's book lower yoke member A manipulator lifting motor is fixed on lower yoke member A manipulator sliding block
On 313, the lower yoke member A manipulator sliding block 313 is equipped with right angled triangle reinforcing rib, the right angled triangle reinforcing rib right-angle side
It is welded on lower yoke member running trolley 33, the lower yoke member A manipulator lifting column 39 is equipped with lower yoke member A manipulator guide rail 314,
Lower yoke member A manipulator lifting motor 310 passes through lower yoke member A manipulator guide rail 314 and lower yoke member A manipulator sliding block 313 and lower yoke
It is slidably connected between piece A manipulator lifting column 39；39 lower end of lower yoke member A manipulator lifting column is welded with lower yoke member A
Manipulator connection frame 315, the lower yoke member A manipulator sucker fixed beam 311 are fixed on lower yoke member A manipulator connection frame 315；
Lower yoke member A manipulator spring lever is equipped between the lower yoke member A manipulator sucker and lower yoke member A manipulator sucker fixed beam 311
316, lower yoke member A manipulator sucker is connected by lower yoke member A manipulator spring lever 316 and lower yoke member A manipulator sucker fixed beam 311
It connects, lower yoke member A manipulator spring lever 316 plays the role of buffering when lower yoke member A manipulator sucker contacts all lower yoke members, prevents
Crush lower yoke member.
Lower yoke member opposite joint mechanism includes lower yoke member B manipulator lifting column 317, lower yoke member B manipulator lifting motor
318, lower yoke member B manipulator sucker fixed beam 319 and to slit die group, 318 lower end of lower yoke member B manipulator lifting motor is equipped with
Lower yoke member B manipulator sliding block 320, the lower yoke member B manipulator sliding block 320 is fixed on lower yoke member running trolley 33, under described
Yoke piece B manipulator lifting column 317 is equipped with lower yoke member B manipulator guide rail 321, and lower yoke member B manipulator lifting motor 318 passes through
It is slided between lower yoke member B manipulator guide rail 321 and lower yoke member B manipulator sliding block 320 and lower yoke member B manipulator lifting column 317
Connection；317 lower end of lower yoke member B manipulator lifting column is fixed, and there are two lower yoke member B manipulator connection frames 322, under each
Yoke piece B manipulator connection frame 322 is equipped with a guide post II 323, the lower yoke member B manipulator sucker fixed beam 319 and lower yoke
Piece B manipulator connection frame 322 is connected by guide post II 323, and one of guide post II 323 is equipped with lower yoke member B manipulator touching material
Detection switch 324.
It is described that slit die group is mounted in lower yoke member B manipulator sucker fixed beam 319, it include that servo pulls machine to slit die group
Structure, hold-down mechanism, mounting bracket 325 and board-like vacuum chuck II 326, the servo pulling mechanism, hold-down mechanism and board-like true
Suction disk II 326 is fixed in mounting bracket 325, and described to be equipped with three groups to slit die group, the mounting bracket 325 is fixed on lower yoke
In piece B manipulator sucker fixed beam 319, mounting bracket 325 includes vertical plate 331 and end connecting plate 332；The servo pulls machine
Structure includes that servo pulls electric cylinders 327, pulls sucker 328 and spring lever 329, and the servo pulls electric cylinders 327 to be fixed on installation branch
On frame 325, the spring lever 329 is mounted on servo and pulls in electric cylinders 327, and sucker 328 is pulled to draw by spring lever 329 and servo
Dynamic electric cylinders 327 connect, and servo pulls electric cylinders 327 to pull sucker 328 mobile by the drive of spring lever 329；The hold-down mechanism packet
Cylinder 333 and pressure plate 334 are included, 333 tailpiece of the piston rod of cylinder is connect with pressure plate 334, and 333 upper end of cylinder is fixed with cylinder
Mounting blocks 335, the cylinder mounting block 335 are fixed in mounting bracket 325；II 326 upper end of board-like vacuum chuck is fixed
There is top connecting plate 330, the top connecting plate 330 is fixed in mounting bracket 325.
The servo pulling mechanism pulls electric cylinders 327 by servo, sucker 328 and spring lever 329 is pulled to form；Compacting machine
Structure is made of guide rod type cylinder, pressure plate, pressure plate have guide frame, can accurately bevel edge from guide post piece to yoke piece or
V-notch is mobile and is aligned, and is unlikely to " overlapping, tooled joint ".Wherein the effect of board-like vacuum chuck II 326 herein is absorption
Lower yoke member is motionless, and one group of column piece of identical " step number " is in place before this, and there are certain gap, compacting machines with yoke piece
The compact heap of structure just " pushes down " gap, at this time the servo electric cylinders of opposite joint mechanism by vacuum chuck drive respective column piece to
Yoke piece is mobile, under the guiding role of pressure plate, completes the opposite joint of column piece and yoke piece, disposably completes the full bias seam at three,
The structure is utilized the torque control pattern of opposite joint servo electric cylinders, rather than position control mode, completely attaches to seam, solves
The inaccurate contradiction of position precision, mobile accuracy, simulates the feeling of artificial hand completely.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, based on the technical solution of the present invention, those skilled in the art are not needed to make the creative labor and can be made
Various modifications or changes still within protection scope of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710072728.9A CN106697973B (en) | 2017-02-10 | 2017-02-10 | A kind of transformer core automatic overlapping and assembling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710072728.9A CN106697973B (en) | 2017-02-10 | 2017-02-10 | A kind of transformer core automatic overlapping and assembling system |
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| CN106697973A CN106697973A (en) | 2017-05-24 |
| CN106697973B true CN106697973B (en) | 2018-12-18 |
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| CN113066656B (en) * | 2021-03-29 | 2022-11-18 | 河南宇和电气有限公司 | Intelligent laminating machine and method for silicon steel sheets of transformer |
| CN113903584A (en) * | 2021-08-30 | 2022-01-07 | 山东电力设备有限公司 | Automatic transformer core stacking device and method |
| CN115910585B (en) * | 2022-12-07 | 2024-01-30 | 海安华诚新材料有限公司 | Automatic continuous loading and unloading device for transformer iron cores |
| CN116588684A (en) * | 2023-05-24 | 2023-08-15 | 重庆至信实业集团有限公司 | A non-standard conveying device and conveying method |
| CN119170405B (en) * | 2024-11-20 | 2025-01-24 | 贵州国昱源丰节能科技有限公司 | Automatic manufacturing equipment for three-dimensional coiled iron core reactor iron core |
| CN119660389B (en) * | 2024-12-18 | 2025-07-04 | 山东大学 | Rotor silicon steel sheet stacking device and method |
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